1391B-ES AC Servo Controller User Manual Document Update
Contents
1. Refer to the 1391B ES Interconnect Drawing for further details B and B NOT are interchanged Use Belden brand 9504 or equivalent twisted pair shielded cable 40 feet 12 2 meters maximum Shields grounded at controller only Use Belden brand 8760 or equivalent shielded cable N Row 21 Document Update 1391B ES Instruction Manual Figure B 3 Typical IMC 120 Interconnect Diagram Termination Panel 115V AC 1771 HT vy 1326 AC Servomotor ESTOP Brake bd TA when supplied 24V E LINK 2 H H Stop r2 RES PB RES PB Reset P B Sor 1391B ES EST Servo Controller STRING IN Remote Axis Hardwired Stop TB4 Overtravel i CR2 M CONTACTOR I DROK 115V AC 1A 18 CLOSED Ok Resolver DRIVE 0 4 DRIVE W 2 VELOCITY COM DR RET 1 VELOCITY COM SHLD gt RESOLVER 0 i 13 4 14 M e 9 23V DC ENABLE SOURCE ENABLE INPUT ROT LO Fo 3 A Quad B Board On Encoder Feedback CH A HI 1 A CH A LO XX 2 A SHLD 2 L CHB HI 3 B CH B LO XX X 4 B CH Z HI 5 Z CHZ LO XX 6 Z SHLD ENCODER POWER CR2 TB3 45V Ji 7 5V 5V RET XX 8 COMMON 15V 15V RET SHLD EXT PWR2. USA 888 932 9183 CANADA 905 629 2505 j Over 100 years cumulative experience amp 24 hour rush turnaround technical support service Established in 1993 The leading independent repairer of servo motors and drives in North America Visit us on the web Www servo repair com www servorepair ca www ferrocontrol com www sandvikrepair com www accuelectric com Scroll down to view your document For 24 7 repair services USA 1 888 932 9183 Canada 1 905 829 2505 Emergency After hours 1 416 624 0386 Servicing USA and Canada B Introduction Page 1 3 Page 1 4 Page 2 1 Document Update 1391B ES AC Servo Controller User Manual This publication provides updated information for the 1391B ES Instruction Manual 1391ES 5 0 dated October 1992 Please place this publication with your manual for future reference The following material is new and should be added at the end of Controller Description The 1391 EST45 combines all of the features of the 1391B ESAA45 with the addition of 300 peak current capability The controller can be ordered with A Quad B encoder feedback and is available in the 45A size only The following is updated Option Modification information Anti Backlash Provisions to use the 1388 Anti Backlash module 1388 XA are available Linear Accel Decel Linear accel decel can be set using the CR APG 001 Control Module This module provides a manu
3. T NIN 00 gt gt a lt Tr Refer to the IMC S 23x Installation and Setup Manual and the 1391B ES Interconnect Drawing for further details Use Belden brand 8760 or equivalent shielded cable Axis 0 connections are shown Axis 1 2 3 connections are identical If the drive is to be operated as a torque block command wires should be connected to 1391B ES TB2 15 16 amp 17 4100 CCAQB cable assembly is a combination of the 4100 CCSxxF servo and AQB and 4100 CCAxxF enable I O fault 4100 CCAQB can only be used on 1391C HB 1391B ES and 1391 DES controllers 6 Separate from the 24V DC I O power supply nk WN 21 Document Update 1391B ES Instruction Manual Figure B 9 Typical IMC 201 Interconnect Diagram 115V AC YY 1326 AC Servomotor Brake when supplied 1391B ES EST Servo Controller Remote Hardwired Stop TB4 Axis IMC 201 1 5 Overtravel M CONTACTOR 4110 201x Bee Resolver TB3 l Command Cables e 12 YX 1 VELOCITY com E l 2 VELOCITY COM I B COMMON 16l 9 ENABLE SOURCE 23V DC 17 10 ENABLE j Feedback Cable 3 TB3 1 1 A
4. 20 to 300 of Rated Motor Current to 2 times rating maximum 20 to 300 of Rated Motor Current to 3 times rating maximum or 135A Note Peak current time varies with RMS current history current time history is used to determine available peak For example With 30A soak 300 peak is available or more with lower soak 85 2500 Hz 10 0 07 rpm Degrees C Maximum 0 to 60 C 32 to 140 F 0 to 65 C 32 to 149 F Power 230V AC Three Phase 50 60 Hz 3 Hz Control 36V AC CT Single Phase 5 to 95 Non Condensing Zero 1000 meters 3300 feet 50 CFM Unloaded 1300A 10 15 Specifications are for reference only and are subject to change without notice Document Update 1391B ES Instruction Manual Page 3 3 through 3 7 Several catalog number descriptions have been clarified Descriptions for the 1391 EST controller and Planetary Gearbox have been added Document Update 1391B ES Instruction Manual 1391B ES A Bulletin 1391B ES Controller A 45 XXX First Position Second Posi Third Posi Fourth Position Fifth Posi Sixth Position tion tion tion Bulletin Speed Type and Nominal Output Current Options Number Capability Construction Voltage Rating if required Code Descrip Letter Description Letter Description Let Description Num Description Description _ _ ___ _ i i _ 1391 Blan Standard A Open T 230V AC 154 RMS Three character field
5. EXT RET Refer to the 1391B ES Interconnect Drawing for further details B and B NOT are interchanged Use Belden brand 9504 or equivalent twisted pair shielded cable 40 feet 12 2 meters maximum Shields grounded at controller only Use Belden brand 8760 or equivalent shielded cable A wv N 22 Document Update 1391B ES Instruction Manual Figure B 4 Typical IMC 121 123 and 123CR Interconnect Diagram Termination Panel 115V AC 1771 HT3 1326 AC Servomotor a hd Brake J when supplied lt DRIVE ENABLE RES PB RES PB RESET STRING OUT STRING IN ot 1391B ES EST Servo Controller Reset P B Remote Hardwired Stop TB4 Axis CR CR2 ventral a io M CONTACTOR a 17 DROK 115V AC 1A 187 CLOSED OK T Resolver i m 14 IMC Module TB2 9 23V DC ENABLE SOURCE 10 ENABLE INPUT TB2 XX 2 VELOCITY COM i 1 VELOCITY COM TB3 x i A l 2 A A Quad B Board s Male D Shell I A Connector to 3 B Axis Connector 4 B on IMC Module 5 Z A x 6l Z I s 7 y 8 1391 CAQB Cable Refer to the 1391B ES Interconnect Drawing for further details 2 B and B NOT are interchanged If the dr
6. J1 9 10V DC 24V DC or i 1 ia Direction 115V AC 2 SPD 1 Remote gt Select 1 Change Remote Select 1 Speed 1 J2 Local ae 17 Speed 1 Direction M e I Change Select 18 3 J1 oe f rman Local Speed Accel ra SPD Remote gt Select 2 Remote Select 2 Speed 2 Ramp Local T A ae T Generator Speed 2 A e ad A J2 5 J1 gt fase Ramp J12 Bypass Local Speed Select 20 Bypass ick 1855 SPD 3 Remote gt Select 3 emote S Select 3 Speed 3 gt Decel Local T4t77 SUr Speed 3 A A a p 3 J a r 4 J2 Enable 21 Select 22 H SPD4 o O 2 wm w I oO oO EA i Remote gt Select 4 p EEG 25 ao ARO o u Co wm O o cm BS il PD ap o oO o 8 gt A j ZN Deadman 24V DCor RIL1 BII 115VAC R L1 4 L R L 2 7 R L 2 8 T Ji R L 3 J11 11 to TB2 1 R L 3 12 TLC to TB2 2 L R L4 15 RIL 4 f6 L SEL 1 1 SEL 1 12 L SEL 2 5 SEL2 6 T J3 SEL 3 T 1 115V AC SEL3 fo 2 Power Supply L SEL 4 13 SEL 4 14 7 TYPICAL CONTROL CIRCUIT 115V AC 50 60 HZ AA TB4 12 Start STOF CR LS ti TB4 11 alo o o o Lt l TB4 13 TB4 14 DROK T TB4 17 TB4 18 Transformer Motor Forward Y Reverse ae Indicates compo
7. 3 8 Flat Washer 3 8 Split Lock Washer 3 8 16 Hex Nuts o0 o0 00 A A N Appendix B The following changes have been made to the interconnect diagrams in Appendix B The diagrams on the following pages have been renumbered Figure Diagram Description of Change B 1 Interconnect Note added to C T of transformer CR2 added to Control Circuit Note added to M Contact table Capacitor added to resolver B 2 B 3 IMC New diagrams CR2 and M contact added B 4 8400 Removed B 5 8600 Removed B 6 MAX CONTROL New diagram Notes and terminal block designations have been clarified M contact added IMC S 20x New diagram IMC S 21x New diagram IMC S 23x New diagram IMC 201 New diagram IMC 110 New diagram 9 Series New information 17 Document Update 1391B ES Instruction Manual Note 10 has been added Notes 1 Power Wiring unless Noted 15A 12 AWG 3 3 mm min 75C min 22 5A 10 AWG 5 3 mm min 75C min 45A 8 AWG 8 4 mm min 75C min 2 Signal Wiring 18 AWG 0 8 mm min 3 Allen Bradley Supplied Cable 8 AWG 8 4 mm2 Motor 126473 12 AWG 3 3 mm Motor 126474 Resolver 116190 4 Customer Supplied Resolver Cable Belden 9873 or equivalent 20 AWG 0 5 mm2 30 pf ft 97 5 pf m max capacitance between conductors 5 Terminate shield on source end only 6 Do not make connections to unused pins on the resolver connector 7 F3 provided on 15 amp 22 5a units only ISA KLM 10
8. 1 92970 032 93 420 47 4 2000 i 1391 EST4 46 420 47 4 1391 EST45 38 2 14 Document Update 1391B ES Instruction Manual Page A 1 A dimension has been added to cover the 1391 EST45 controller Figure A 1 1391B ES 1391 EST Dimensions Dimensions are in inches and millimeters Detail A 0 25 6 3 0 312 7 9 Dia 7 Ei SS R OO 0 60 15 2 Dia F A Loans 0 30 7 6 f l ee gt 3 70 93 9 lt Oo See Detail A ee O j A B PViQO S O amp ALLEN BRADLEY SG 94 ROCKWELL INTERNATIONAL COMPANY 19 00 482 6 18 40 467 4 17 50 444 5 AC SERVO CONTROLLER A n See Detail B a 1 y lt 4 50 114 3 oa lt 9 10 228 6 gt lt 6 20 157 5 gt 0 85 21 6 lt 10 64 270 2 gt 6 45 163 8 1391 EST45 Only Detail B m 0 39 9 9 0 312 7 9 Dia Wt Notes 1 Dimensions are in inches millimeters 1 Mounting slots and keyholes will accept 1 4 20 7 mm hardware 2 A minimum spacing of 0 312 7 9 mm is required between adjacent controllers 1 25 4mm is recommended 15 Document Update 1391B ES Instruction Manual Page A 2 NT has been added to the catalog numbers shown and Europa style terminal blocks have been incorporated into the transfomer design Figure A 2 1391 Isolation Transfo
9. 2 XX 2 A 3 3 B A Quad B Board XX B 4 4 B 5 5 z 6 XX 6 Z 7 7 5V 8 8 COMMON CR LPS 455 TB3 9 5V DC 10 XX COMMON 5 12V DC 13 12V DC T4 12V DC Power Supply 15 COMMON Denotes Screw Terminals COMMON 24V DC for Shield on IMC 201 Chassis TB4 17 DROK 115V AC 1A T CLOSED OK Refer to the IMC 201 Installation and Setup Manual 999 108 and the 1391B ES Interconnect Drawing for further details Use Belden brand 8760 or equivalent shielded cable Use Belden brand 9504 or equivalent twisted pair shielded cable 40 feet 12 2 meters maximum Shields grounded at controller only Use Belden brand 9533 or equivalent shielded cable X Axis TB3 connections are shown secondary feedback TB5 connections are identical to the TB3 connections won nn e If the drive is to be operated as a torque block command wires should be connected to 1391B ES TB2 15 16 amp 17 28 Document Update 1391B ES Instruction Manual Figure B 10 9 Series Interconnect Diagram For detailed 9 Series interconnect information please refer to the following publications Controller Publication 9 240 9 240 Integration Manual publication 8520 4 1 9 230 9 260 290 9 230 9 260 or 9 290 Integration Manual publication 8520 6 2 29 Document Update 1391B ES Instruction Manual Page C 2 Outer shield has been added to the following cable information 1326 CEUxx Encoder Feedback Cable Wire Gauge Con
10. B Stan k 1391B Frame A Three 15 Cont assigned to special dard Extended Internal Phase 30A Peak modifications Contact 1391B ES Speed Heat Sink 22 22 5A RMS your local Allen Bradley Range Cont Sales Representative for 45 45APeak _iygher nformation 45A RMS A13 Zero Current Option Cont see Appendix D 90A Peak Bulletin 1391 EST Controller First Position Second Posi Third Posi Fourth Position tion tion Bulletin Speed Current Options Number Capability Rating if required Code Descrip Letter Description Num Description Description anai OA Pr Gek okra gt 1391 EST Extended 454 RMS Three character field Stan Speed amp 45 Cont assigned to special dard Peak 135A Peak modifications Contact EST Torque your local Allen Bradley Range Sales Representative for further information Code Description AQB A Quad Encoder Output Accessory Modules 1388 X B Bulletin No Module Accessory Description Code Description Code Description 1388 X Accessory A Anti Backlash Module w mounting Module for B assembly 1391 C Accel Decel Board w mounting rack CR APG Blan 001 Velocity Reference Board w mounting k rack Linear Accel Decel Board w power 1 A combination of the 1388 XB and XC is supphyd amp d4yprhset speeds 4 CR APG 001 Document Update 1391B ES Instruction Manual External Shunt Regulator Resistor 1391 MOD SR22A Bulletin Number Type Description Code Description Code Description MO Modifi
11. brand 9533 or equivalent shielded cable 5 X axis connections are shown Y axis connections TB3 are identical 6 If the drive is to be operated as a torque block command wires should be connected to 1391B ES TB2 15 16 amp 17 24 IMC S 20x 5 4100 20x Figure B 6 Typical IMC S 20x Interconnect Diagram 115V AC YY Document Update 1391B ES Instruction Manual 1326 AC Servomotor Remote Axis Hardwired Stop Brake when supplied 1391B ES EST Servo Controller TB4 M CONTACTOR Overtravel Command Cables 2 gt M TB2 VELOCITY COM VELOCITY COM Sip l X COMMON o M co ro 16 ENABLE SOURCE 23V DC 17 10 ENABLE l Feedback Cable 3 TB3 i XX uA A Quad B Board 3 3 B 4 XX 4 B 5 5 Z 6 XX 6 Z 7 7 5V 8 Y XX 8 COMMON CR LPS 455 15 4 TB3 9 5V DC 10 XX COMMON 13 fe AVEO poly ge 14 i 15V DC pey 15 COMMON CR IOPS 241 Denotes Screw Terminals for Shield on IMC S Class Chassis 24V DC Power Supply COMMON 24V DC OUT S OUT S L TB4 DROK 115V AC 1A T CLOSED OK U N e a n A Refer to the IMC S 20x Installati
12. l TB4 17 DROK 115V AC 1A ln CLOSED OK Denotes Screw Terminals for Shield on IMC S Class Chassis Refer to the IMC S 21x Installation and Setup Manual 999 103 and the 1391B ES Interconnect Drawing for further details Use Belden brand 8760 or equivalent shielded cable Axis 0 connections TB1 are shown Axis 1 2 3 connections are identical use TB3 for Axis 1 TB4 for Axis 2 and TBS for Axis 3 won If the drive is to be operated as a torque block command wires should be connected to 1391B ES TB2 15 16 amp 17 26 Document Update 1391B ES Instruction Manual Figure B 8 Typical IMC S 23x Interconnect Diagram 115V AC YY 1326 AC Servomotor Brake when supplied 1391B ES EST Servo Controller Remote Axis Hardwired Stop Overtravel On Q alo TB4 M CONTACTOR M 1 2 6 4100 23x CR IOPS 241 A Quad B Board Resolver 24V DC Power Supply COMMON 24V DC I OCONNECTOR OUT 5 OUT S T 2 iz DROK 115V AC 1A 3 J 18l 7 CLOSED OK 5 F R Part of 4100 CCAQB Cable SERVO CONNECTOR I 7 TB2 X 7 9 ENABLE SOURCE 23V DC 7 f0 ENABLE 10 f1 VELOCITY com 5 2 VELOCITY COM 4100 CCAQB Cable D 4 w oo
13. 22 5A FNQ 6 1 4 series B only 8 S2 1 ON for 1 2V krpm S2 1 OFF for 2 0V krpm 9 Current Feedback Scaling See Chapter 5 10 On all Series D controllers verify with controller nameplate the secondary center tap must not be grounded Grounding this will cause damage to the controller 18 Document Update 1391B ES Instruction Manual Figure B 1 1391B ES 1391 EST Interconnect Diagram Document Update 1391B ES Instruction Manual 20 Document Update 1391B ES Instruction Manual Figure B 2 Typical IMC 110 Interconnect Diagram 1326 AC Servomotor 115V AC Brake E 1391B ES EST nS Servo Controller m CONTACTOR 4 TB4 XX 17 DROK 115V AC 1A e 18 7 CLOSED OK ENCODER Encoder Feedback TB3 CH A HI XX 1 A CH A LO 2 A SHLD 2 I Resolver CHB HI 3 B CH B LO XX X 4 B SHLD IT A Quad B Board CHZ HI 5 Zz CH Z LO XX 6 Z ENCODER cR2 7 5V T XX If g COMMON E TB2 1 VELOCITY COM 2 VELOCITY COM 3 TB2 9 23V DC ENABLE SOURCE H10 ENABLE INPUT XX TB4 24V H L Stop RES PB RES PB o Reset P B RESET STRING IN STRING OUT Remote Hardwired Stop Axis Overtravel CR CR2
14. Series Motor Shaft Output Options Adapter Shaft Code Description Cod Description Code Descrip Code Description Code Descrip PG Straight Series A a 7 Blank No Op jz Planetary A series B 05 3 1 Lg tions Metric Rp Gearbox B j 10 5 1 Low Series C 15 10 1 Right Angle Cc 20 15 1 Backlash Planetary f Option Gearbox 30 20 1 50 30 1 100 50 1 100 1 3 Document Update 1391B ES Instruction Manual Power and Feedback Cables 1326 C P A T 15 B First Position Second Posi Third Posi Fourth Position Fifth Position Sixth Position tion tion Bulletin Motor Size Power Track Cable Number Type Function Used On Cable Length Letter Description Letter Descrip Letter Description Code Type Letter Description Code Description Blan Standard C i P Power Connection AB Series A amp B T All Series K Connector k Cable Connec except used for Kit No tor amp c 1326AB B4 high flex 15 Cable Cable Series k applica 30 15 4 6m na F Commutation amp U M26ARB4 Blan ons 50 30 9 1m y Feedback Connec k Standard 100 50 15 2m gp tion Cable 150 100 v 845H T Encoder 200 30 4m All 4 25 250 150 108 mm Resolver 300 45 7m Packages 200 61m 250 76 2m 300 91 4m Page 5 3 In Figure 5 1 a cable specification has been added to Note 1 Note 2 has been clarified Recommended Wire Belden 9728 or equivalent Maximum distance between the A Quad B Board and the position controlle
15. ally generated trapezoidal velocity profile for up to four preset speeds A single acceleration deceleration rate can be set for all speeds The Controller Specifications shown on the following page have been updated to include the 1391 EST45 Document Update 1391B ES Instruction Manual Specific Ratings 1391B Nominal Bus Output Voltage Continuous Current RMS Peak Current RMS Continuous Power Output Peak Power Output Input Circuit Breaker Rating Circuit Breaker Interrupt Rating Symmetrical Amperes Unit Weight in lbs kg All Controller Ratings Static Gain A RMS Form Factor Speed Regulation change Peak Current Limit Adjust 1391B ES continuous drive 1391 EST45 continuous drive IT current for 130 ms Controller Efficiency Minimum at Rated Load Modulation Frequency Drift Referred to Tach Ambient Temperature Storage Temperature Input Voltage from Transformer Relative Humidity Deadband Altitude Integral Fan Output Max RMS Short Circuit Current Symmetrical Amperes Transformer Input Tolerance ESAA15 ESAA22 ESAA45 EST45 300V DC 300V DC 300V DC 300V DC 15A 22 5A 45A 45A 30A 45A 90A 135A 5 0 kW 7 5 kW 15 0 kW 15 0 kW 10 0 kW 15 0 kW 30 0 kW 45 0 kW 17A RMS 26A RMS 38A RMS 38A RMS 1300A 1300A 1300A 1300A 22 9 97 28 12 69 34 15 40 37 16 78 1 5 x Rated Motor Current rpm 1 03 or less 0 05 max of maximum motor speed with 95 load
16. ca SR22 Shunt Regulator Resistor for 22 5A D tion Kit A Controller SR45 Shunt Regulator Resistor for 45A A Controller 1326AB Servomotor 1326 A B A 3 E Ill A4 First Posi Second Posi Third Posi Fourth Position Fifth Posi Sixth Position Seventh Posi Eighth Posi tion tion tion tion tion tion Bulletin Motor Max Operating Mounting amp Standard Number Type Design Series Length Speed Shaft Description Options Let Description Description Description Description Cod 1391B Rated Cod Description AG Factory Sequentially Sequential 160 Inch Combina A Servomo use only lettered to ly num B 2000 0 11 tion Face tor PM designate bered to C 3000 200 Flange with Type frame indicate E 4000 0 Keyway diampters stack 300 21 NEMA IEC length with G 6000 0 Metric Flange a Ben with Keyway Code Description frame size Code D amp fiption A 4 25 A472 1b in 8 1 N m Holding Brake w 90V B 108 mm A5 DC Coil C 5 88 A7 120 lb in 13 6 N m Holding Brake w 90V 149 mm K4 DC Coil 7 63 K5 400 Ib in 45 2 N m Holding Brake w 90V 194 mm K7 DC Coil 72 b in 8 1 N m Holding Brake w 24V Planetary Gearbox DC Coil 120 lb in 13 6 N m Holding Brake w 24V DC Coil 1326A PG A 05 400 Ib in 459 2 N m Holding Brakd w 24V B DC Coil B First Posi Second Posi Third Posi Fourth Position Fifth Position Sixth Position tion tion tion Bulletin Used on 1326AB Gear Ratio Number Type Motor
17. gure D 1 Option Connection Suggested Method Alternate Method 50k Ohm 1 2 Watt 10 Turn Poten tiometer 8 0 V DC TB2 20 Variable 31 Document Update 1391B ES Instruction Manual Notes
18. ise for minimum speed Remove the SEL1 input A ATTENTION To protect against rapid accel decel commands from the module and possible machine damage or personal injury the Bypass input terminals 19 amp 20 of J2 must not be energized Applying 24V DC or 115V AC to this input will remove the Accel Decel pot settings from the circuit causing the output to immediately ramp to 10V DC or zero volts The output of the module is controlled by the Deadman input at terminals 10 amp 11 of J1 Applying 24V DC or 115V AC to this input will cause the module to operate The front panel Dedman LED will be off When this input is de energized the module output will be connected to logic ground thus disabling output At this point the Dedman LED will illuminate Energize the Deadman input with 24V DC or 115V AC Document Update 1391B ES Instruction Manual begin to rotate and cause incorrect machine movement when the ATTENTION During subsequent steps the servomotor may o 13 controller is enabled Be prepared to remove power by opening MCB or the branch circuit disconnect device if this occurs This movement may be due to a wiring error or system component malfunction and must be corrected before proceeding with this procedure Damage to machine system components can occur due to uncontrolled machine movements Apply power to the controller and module Initiate a Start command by selecting speed in
19. ive is to be operated as a torque block from an IMC 121 or 123 command wires should be connected to TB2 15 16 amp 17 23 Document Update 1391B ES Instruction Manual Figure B 5 Typical MAX CONTROL Interconnect Diagram 115V AC 1326 AC Servomotor Brake when supplied 1391B ES EST Servo Controller Remote Axis Hardwired Stop Overtravel Ome alo TB4 M CONTACTOR MAX CONTROL TB2 3 M Resolver TB2 VELOCITY com VELOCITY com COMMON ENABLE SOURCE 23V DC ENABLE Command Cables sy g A Quad B Board NIN WIW gt gt a lt Feedback Cable 3 1 2 3 4 5 6 7 8 aon ro WW CR LPS 455 4 TB2 3 XX 5V DC COMMON 5 12V DC 16 HVDC pg 17 12V DC PPly 18 COMMON COMMON 22 24V DC TB2 3 TB4 4 DROK 115V AC 1A T CLOSED OK Refer to the MAX CONTROL Installation and Setup Manual 999 051 and the 1391B ES Interconnect Drawing for further details 2 Use Belden brand 8760 or equivalent shielded cable 3 Use Belden brand 9504 or equivalent twisted pair shielded cable 40 feet 12 2 meters maximum Shields grounded at controller only 4 Use Belden
20. ncoder voltage going to the 1391B ES from the IMC Classic Controller The relay coil must be wired into the control circuit When power is not applied to the 1391B ES a Quadrature Fault will occur in the controller forcing a re homing and calibration of the controller The following error example should be added to step 15 Velocity 100 ipm E 100ml Gain 1 ipm ml Following Error Linear Accel Decel Control Module The following information is new and explains manual controller operation with the Linear Accel Decel Control Module CR APG 001 This module provides adjustable acceleration deceleration control for the 1391B ES Up to four remote or local preset speeds are available The 1391B ES can be manually operated with controlled trapezoidal motion profiles when the module is installed and the following steps are performed o 1 Perform the Start Up Procedure presented earlier in this chapter o 2 Remove all system power o 3 Install and interconnect the Linear Accel Decel Control Module as shown in Figure 7 3 Refer to Figure 7 4 for dimension information Document Update 1391B ES Instruction Manual o 4 Set all of the Speed pots SPD 1 SPD 4 or remote pots to the o 5 o 6 maximum clockwise position speed minimum Set the front panel Accel and Decel pots to the maximum counterclockwise position minimum accel decel time Important All potentiometers on the module are 15 turn bi directi
21. nector Pair Color AWG Pin il Black 22 H White 22 A 2 Black 22 F Red 22 D 3 Black 22 J Orange 22 C 4 Black 22 I Blue 22 B 5 Black 22 F Green 22 E Outer Shield Drain G Page C 3 The table heading for the 1391 CAQB Cable has been clarified Cable D Shell Connection on 1391B ES Controller Terminal Wire Number Color Signal Terminal Location 30 Page D 1 Document Update 1391B ES Instruction Manual Connection of a variable DC supply was described incorrectly In addition the last paragraph has been clarified Please refer to the corrected information below It is possible to connect a variable 8 0V DC voltage supply to TB2 18 and 20 Varying the voltage at TB2 18 will modify the current limit of the controller as set by selector switch S1 this rating will not exceed 200 of the controller current rating Available current is proportional to the applied voltage as shown in the table below Voltage at Peak Current 3 TB2 18 20 Percentage OV DC or Open Circuit 300 3 0V DC 200 5 6V DC 100 8 0V DC 2 0 1 300 torque of the S1 setting or 200 of drive rating whichever is less 2 Short between TB2 18 and 19 will also give zero current 3 Approximate check TP21 for an exact amount The Zero Current option approximates but may not exactly produce zero current and torque due to tolerances inherent in the drive and components Offset torque may approach 10 of motor rated torque Fi
22. nent located in controller 1 Required only with IMC 110 120 121 AND 123 controllers 12 Document Update 1391B ES Instruction Manual Figure 7 4 Linear Accel Decel Control Module Dimensions 4 25 108 0 0 41 10 3 3 44 87 3 0 50 12 7 y A A 8 12 206 2 7 25 184 2 Dimensions are in inches mm y Y 0 75 19 1 2 75 69 9 0 75 19 1 L O 0 5 12 7 Document Update 1391B ES Instruction Manual Page 8 1 The Speed Torque Curve shown in Figure 8 1 has been updated to 300 rated torque Figure 8 1 Typical Bulletin 1326 Speed Torque Curve 1391B ES Rated Speed Peak Torque with Peak Torque with 1391B Rated Nominal Input Line Nominal 15 Speed Voltage Low Input Line Voltage XX tele ee ee ee et ee eee 7 Speed 80 rated rpm 60 40 20 0 100 200 300 Te Tp Torque rated E Rated C Intermittent Operation Operation 1391B ES Rated Operation AN 1391B ES Intermittent Operation Page 8 3 Speed comparisons with the 1391 EST drive have been added to Table 8 A Table 8 A 1391 1391B ES 1391 EST Speed Comparison Continuous Peak Stall Rated Amperes Rotor Rated Stall Torque Speed Motor Servo Amplifi at Inertia Out Torque Ib in rpm Catalog Num er Continu lb in s kg m put N m 4009 ber Torque 210 23 7 352963 4090 H26ABR CSF 1391 EST45 33 2 92279 02 0 310 35 0 HHHH any 6 ARREHE 1391 EST45 49
23. ocity profile will not be predictable Important In the following steps the local speed control SPD 1 will be used If your application utilizes remote speed pots the remote pot should be substituted for SPD 1 Document Update 1391B ES Instruction Manual o 7 o 8 o 9 o 10 o ll o 12 Connect a voltmeter between terminals 11 and 10 of J1 While monitoring the meter turn the speed pot SPD 1 or remote counterclockwise until the output voltage is approximately 10V DC Toggle the FWD REV switch The voltage measured should change in polarity If the polarity does not change recheck the wiring and connections of the FWD REV relay and switch Important Changing direction with the speed input follows the accel decel times set on the module Move the meter leads to controller terminals 1 amp 2 of TB2 The meter should indicate a voltage of approximately 10V DC Rotate the Accel and Decel pots located on the module front panel approximately 7 turns De energize the SEL 1 input terminals 1 amp 2 of J2 and note the time needed for the meter voltage to reach zero minimum volts Energize the SEL 1 input and note the time needed for the voltage to reach 10V DC maximum Adjust the Accel Decel pots for desired ramp times approximate range is 0 25 to 6 5 seconds by repeating step 10 The final ramp time will be set during final system calibration Rotate the speed pot fully clockw
24. on and Setup Manual 999 105 and the 1391B ES Interconnect Drawing for further details Use Belden brand 8760 or equivalent shielded cable Use Belden brand 9504 or equivalent twisted pair shielded cable 40 feet 12 2 meters maximum Shields grounded at controller only Use Belden brand 9533 or equivalent shielded cable Axis 0 TB3 connections are shown Axis 1 2 3 connections are identical use TB5 for Axis 1 TB4 for Axis 2 and TB6 for Axis 3 Tf the drive is to be operated as a torque block command wires should be connected to 1391B ES TB2 15 16 amp 17 Resolver 25 Document Update 1391B ES Instruction Manual Figure B 7 Typical IMC S 21x Interconnect Diagram ee 1326 AC Servomotor ae K1 K2 Brake when supplied 1391B ES EST Servo Controller Remote Hardwired Stop TB4 Axis Overtravel M CONTACTOR IMC S 21x l M 4100 21x TE h ua oar _ a 1391 SAQB Cable GSO Ver tai 1 TB3 3 XX 1 A 4 2 A 5 3 B 6 XX 4 B 7 5 Z 8 6 Z 9 7 5V 10 XX 8 COMMON H TB2 12 W 1 VELOCITY COM 4 E 2 VELOCITY COM 13 9 ENABLE SOURCE 23V DC 14 10 ENABLE CR IOPS 241 24V DC Power Supply COMMON 24V DC OUT S OUT S TB1 J
25. onal The Local Speed pots are setup such that counterclockwise rotation will increase output and clockwise rotation will decrease output Counterclockwise rotation of the Accel Decel pots will decrease time while clockwise rotation will increase time Apply 115V AC to terminals 1 amp 2 of J3 Using a voltmeter verify that this voltage is present Also verify that 10V DC is present between terminals 9 and 2 of J1 The ON OFF LED located on the front of the module will be illuminated Select Remote or Local speed control To select Remote Speed a Connect an external 1k ohm 1 2 watt speed potentiometer as shown in Figure 7 3 b Energize the R L 1 input terminals 3 amp 4 of J2 with either 24V DC or 115V AC c Energize the speed select input SEL 1 terminals 1 amp 2 of J2 with the same voltage used in the previous step The front panel R L 1 LED will illuminate d Repeat steps a through c for any of the other three preset speeds Important If more than one speed is selected at the same time the resulting speed for the velocity profile will not be predictable To select Local Speed e Energize the speed select input SEL 1 terminals 1 amp 2 of J2 with either 24V DC or 115V AC The front panel SEL 1 LED will illuminate f Repeat the above step for any of the other three preset speeds Important If more than one speed is selected at the same time the resulting speed for the vel
26. put SEL1 Command a speed through the speed pot SPD 1 that represents approximately 10 of maximum speed i e 1V DC The motor should rotate slowly under control following the speed pot If the motor is uncontrollable or rotates incorrectly de energize SEL 1 Remove all power and check wiring If the controller current limit function is used slowly adjust the Current Limit potentiometer R148 to the desired setting after the motor is stable Refer to Chapter 5 for more information on the this potentiometer If the application requires reverse direction use the FWD REV toggle switch to check operation in the reverse direction With a zero velocity command from the module use the controller Offset pot R1 to set zero motor speed Refer to Chapter 5 for more information on this adjustment Important The motor may begin to move slowly after a period of time several minutes even though the Offset pot is set to zero Rotate the speed pot SPD 1 fully counterclockwise Adjust the Velocity Command Scale pot R132 to give the desired motor speed Check the accel decel rate settings at speeds selected for the application Refer to steps 10 amp 11 If applicable repeat steps 6 16 for any of the other three preset speeds 11 Document Update 1391B ES Instruction Manual Figure 7 3 Linear Accel Decel Control Module Wiring
27. r is 40 feet 12 2 meters using a 5 volt signal For distances up to 300 feet 91 meters 18 AWG 0 8 mm2 wire Belden 9388 or equivalent and an 8 to 15V DC power supply must be used N For proper operation when interconnecting to IMC Classic products i e IMC 110 12x the B and B NOT signals must be reversed Page 5 4 External Shunt Regulator Resistor TB5 Terminals 8 9 10 The following sentence supplements the current material Bus voltage can be monitored on terminals 9 and 7 of TB5 Page 5 8 Scaling information for the 1326AB A1G motor has been added Table 5 C Typical Scaling for 1326 AC Servomotors 1 Motor Catalog S1 Switch Setting Number Ic A 1391B ESAA1 1391B ESAA2 1391B ESAA4 aaka na aa gt 2 Ss 1326AB A1G 4 5 _ 1 3 Page 5 10 Page 5 12 Document Update 1391B ES Instruction Manual The S2 switch setting for the 1326AB A1G motor has been added Table 5 E S2 2 Switch Positions Motor Catalog S2 2 Switch Number Setting 1326AB A1IG ON The following information has been clarified for use with IMC Classic products When using the A Quad B option with Allen Bradley IMC motion controllers the AMP parameters will be set according to the line count selected In general one parameter must be justified when using this device Important For all IMC Classic products IMC 110 12x the normal line counts per cycle of the encoder must be divided by two
28. rmer Dimensions Dimensions are in inches and millimeters 0 22 5 6 R 0 44 11 2 Ref Catalog Number kVA A B C D E Weight 1391 T015DT 1 5 9 00 228 10 00 254 13 00 330 5 00 127 3 10 79 27 12 2 1391 TOISET 9 00 228 10 00 254 13 00 330 5 00 127 3 50 89 40 18 2 2 5 11 00 279 11 00 279 14 00 356 6 00 152 3 30 84 42 19 0 1391 T025DT 11 00 279 11 00 279 14 00 356 6 00 152 4 00 102 60 27 2 NT i 3 5 11 00 279 11 00 279 14 00 356 6 00 152 4 50 114 60 27 2 11 00 279 11 00 279 14 00 356 6 00 152 4 50 114 85 38 6 ELOD a er S a a en S a ee 1391 T035ET 5 0 11 00 279 11 00 279 14 00 356 6 00 152 5 25 133 75 34 0 NT 11 00 279 11 00 279 14 00 356 6 00 152 6 00 152 100 45 4 1391 T050DT 10 0 12 00 305 12 50 317 16 00 406 8 00 203 5 85 149 112 50 8 1391 T050ET 12 00 305 12 50 317 16 00 406 8 00 203 5 85 149 140 63 6 NT 15 0 13 00 330 14 00 356 17 50 444 9 50 241 6 00 152 150 68 0 13 00 330 14 00 356 17 50 444 9 50 241 6 00 152 200 90 9 1391 T100DT 1391 T100ET NT 1391 T150DT 1391 T150ET NT 16 Document Update 1391B ES Instruction Manual Page A 3 The following items are included with the NEMA Type 1 Enclosure Qty Description Steel Mounting Channels 3 8 16 x 1 0 HHCS Screw 3 8 16 x 1 5 HHCS Screw
29. since the controller will see two markers per cycle Example using an IMC 12x Controller With switch S3 set to 1024 lines per revolution S3 2 OFF S3 1 ON the lines per cycle of the position feedback device located in the Feedback Parameters File must be 2048 1024 x 4 4096 2 2048 Quadrature 2 Lines Revolutio n Markers Revolution Document Update 1391B ES Instruction Manual Page 6 5 Page 7 4 Page 7 6 Encoder A Quad B Board Wiring The following information supplements the current material For proper operation when interconnecting to IMC products the B and B NOT signals must be reversed Applications that interface the 1391B ES with an IMC Classic Controller IMC 110 120 121 123 require a relay to sequence the encoder power supply during a controller shutdown Without this power supply relay erroneous counts could be received by the IMC Classic Controller when AC power is cycled to the 1391B ES but not the IMC controller When power is removed to the 1391B ES the AQB Board will not have control voltage However the board will still receive the encoder voltage 5V DC or 8 15V DC from the IMC Classic Controller As the 1391B ES power is cycled it will briefly output a stream of encoder pulses which will be interpreted as movement of the servomotor by the IMC Classic Controller It is recommended that a normally open N O contact from an external relay be wired in series with the e
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